High-performance intelligent biorobotics and assistive locomotion

随着基本的机电一体化技术的发展，能够模拟生物运动或增强人类机动性的智能机器的发展，或总体上的生物机器人学，正在经历快速增长。然而，就稳定性、健壮性、智能性和能源效率而言，这些机器远远不如生物系统理想。这项研究受生物系统的启发，旨在通过优化运动规划、智能学习控制器和利用机械系统的被动动态运动来优化腿部机器人的性能。双足运动因其对生物医学和人体运动科学的重要意义而被选为主要研究方向。通过离线多目标优化过程或通过调制简单的动力学，两足步行将获得能量高效和稳定的步态。一种新的学习控制策略将被设计出来，它将适用于两足动物在不平坦的地形上的运动和在移动地面(如船板)上的姿态稳定性。这项研究还旨在利用被动动力学原理开发新型高效的两足动物和具有智能控制器的可穿戴设备，可用作步行辅助设备。将实现单自由度兼容的膝关节辅助装置，以研究智能学习控制器和能量学的改进。在反馈控制器中使用肌电(EMG)信号和用户相互作用力来确定所需的扭矩，以针对不同的用户以安全的方式增加膝部功率。与渥太华医院康复中心的合作将确保结果的适用性，这可以改善许多行走困难的加拿大人的生活质量。

The development of intelligent machines that can mimic biological locomotion or enhance human mobility, or biorobotics in general, is undergoing a rapid growth as the underlying mechatronic technologies are evolving. However, these machines are far less optimal than biological systems in terms of their stability, robustness, intelligence, and energy efficiency. This research, inspired by biological systems, aims at optimizing the performance of legged robots through optimal motion planning, intelligent learning controllers and exploiting passive dynamic motions of mechanical systems. Bipedal locomotion, due to its significance to biomedical and human kinetic sciences, has been selected as the main focus. Energy-efficient and stable gaits will be obtained from bipedal walking, through off-line an off-line multi-criteria optimization process or through modulating simple dynamics. A new learning control strategy will be devised that will be applicable to biped locomotion on uneven terrains and postural stability on moving grounds such as ship boards. This research also aims at using the passive dynamic principles to develop new classes of efficient bipeds and wearable devices with intelligent controllers that can be used as walking aids. A single-degree-of-freedom compliant assistive device for knee joint will be realized to investigate intelligent learning controllers and improvements in energetics. The EMG (Electromyogram) signals and user interaction forces are used in a feedback controller to determine the required torques to augment the knee power in a safe fashion for different users. Collaborations with Ottawa Hospital's Rehabilitation Centre will ensure the applicability of the results which can improve the quality of life of many Canadians with walking difficulties.